// NOTE: The contents of this file have been taken largely from the ros_control wiki tutorials

// ROS
#include <ros/ros.h>

// ros_control
#include <controller_manager/controller_manager.h>

#include "four_wheel_steering.h"

int main(int argc, char **argv)
{
	printf("----------- FOUR WHEEL STEERING DUMMY -------------\n");
	return 0;

	ros::init(argc, argv, "four_wheel_steering");
	ros::NodeHandle nh;

	FourWheelSteering robot;
	ROS_WARN_STREAM("period: " << robot.getPeriod().toSec());
	controller_manager::ControllerManager cm(&robot, nh);

	ros::Rate rate(1.0 / robot.getPeriod().toSec());
	ros::AsyncSpinner spinner(1);
	spinner.start();
	while (ros::ok())
	{
		robot.read();
		cm.update(robot.getTime(), robot.getPeriod());
		robot.write();
		rate.sleep();
	}
	spinner.stop();

	return 0;
}
